Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

Analysis of the Efficiency of Applied Virtual

Simulation Models and Real Learning Systems
in the Process of Education in Mechatronics
Slobodan Aleksandrov1, Zoran Jovanovi2, Dragan Anti2, Saa
Nikoli2, Stania Peri2, Radica Aleksandrov1
1

Technical School Trstenik

Vuka Karadia 11, 37240 Trstenik, Republic of Serbia

University of Ni, Faculty of Electronic Engineering

Department of Control Systems
Aleksandra Medvedeva 14, 18000 Ni, Republic of Serbia
E-mail: zoran.jovanovic@elfak.ni.ac.rs, dragan.antic@elfak.ni.ac.rs,
sasa.s.nikolic@elfak.ni.ac.rs, stanisa.peric@elfak.ni.ac.rs

Abstract: The rapid development of science and technology sets high demands for schools
and faculties in terms of educating students to be able to manage complex technological
systems. On the other hand, the application of new technologies in modern industry
requires the creation of real and virtual laboratories capable of producing the conditions
for the rapid and reliable transfer of new knowledge and skills from teachers to students.
Having this in mind, the main focus of this paper is the realization of a module as a
combination of virtual and real learning systems. The advantage of these systems is
reflected in a possibility of creating virtual laboratories using three-dimensional models
that simulate real industrial systems. Research shows that the use of virtual didactic
systems in modern education increases motivation for learning, reduces learning time and
enables modelling and simulation of real systems. However, in order to improve
professional competencies, an interaction of simulation models with real industrial systems
is needed.
Keywords: Mechatronics; education; learning systems; real and virtual laboratory;
simulation

Introduction

Education in the field of mechatronics is a rather complex teaching process and

requires the use of modern teaching methods and modern learning systems [1].
The term mechatronics is defined by Tetsura Mori: The word, mechatronics, is

59

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

composed of mecha from mechanism and the tronics from electronics. That is
to say technologies and developed products will now incorporate electronics more
intimately and organically into mechanisms, making it impossible to tell where
one ends and the other begins [2]. With the development of microprocessor
technology and its application in the control of electro-mechanical systems, the
original definition of mechatronics evolved, so Harashima, Tomizuka and Fukada,
defined Mechatronics as: The synergistic integration of mechanical engineering,
with electronics and intelligent computer control in design and manufacturing of
industrial products and processes [2]. Despite efforts, there is still no definition
that completely covers the meaning and application of mechatronics.
For successful education in mechatronics, modern learning systems are needed,
ones which correlate with real industrial mechatronics systems [3]. These learning
systems are characterized by modularization, flexibility, re-programmability and
software support for modelling, simulation and networking. To enable students to
be capable of applying acquired theoretical knowledge and practical skills to real
industrial systems [4], these modern learning systems have to be realised with
industrial components.
Many papers try to explore an alternate approach which employs simulation to the
real industrial production equipment in learning control technology [5]-[8].
Software tools such as MatLab, LabView, Cosimir Robotics, Cosimir PLC, etc.,
are used to model and simulate the behaviour of real practice/didactic scenarios. A
variety of learning environments implemented and tested in the publication
Mechatronics training in real and virtual environments is one of the outputs
from Marvel, a pilot project under the Leonardo da Vinci action programme for
implementation of the European Communitys vocational training policy. The
main target groups for Marvel were students, trainees and instructors in vocational
education and training [9], [10]. Simulation can be used to reduce the amount of
time that students have to spend on executing real experiments [11], [12]. It is
obvious that computers have to be used as tools to provide alternative source of
learning material, but computer simulation cannot replace all forms of applied
training [13], [14].
It is very common in teaching that the application of software solutions for
simulation and modelling are potentiated, wherein the use of real learning systems
is neglected. As a result of insufficient practice with real learning systems, after
schooling, we get personnel that need additional training in working with
industrial systems. On the other hand, the use of the real learning systems
exclusively is limited by the small number of students that can be trained at the
same time and a certain number of different learning systems and high education
price. In order to make the teaching process challenging, stimulating and efficient,
it is desirable to use modern software and hardware learning systems. In this way,
the price is reduced, the number of participants in a group, trained simultaneously,
is increased and different dynamics of knowledge and skills acquisition, according
to the potential and desires of students, is enabled.

60

Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

The new concept of education in this field should link theoretical knowledge and
practical skills. In this way, these learning laboratories will enable students to
design, control, test, and maintain existing and new mechatronics systems. A
virtual environment created in this manner should enable students to respond to
the future requirements of industrial mechatronics systems. On the other hand,
these learning systems are characterized by rather high prices, so it is difficult for
schools and faculties in our surroundings to provide sufficient number of different
learning systems.
The goal of the research presented in this paper was aimed at the significance of
the application of real and virtual learning systems in the teaching process of
secondary vocational school of educational profile Technician of mechatronicspilot program. The survey was carried out with the help of professors from the
Faculty of Electronic Engineering in Ni. The aim of this cooperation is to
establish the continual educational process, creating new teaching plans and
programmes, based on the knowledge and skills that future students have acquired
during previous schooling. The main advantage of this research is the fact that the
two generations of students of the final year, from four different schools, have
taken part in the survey. These four schools have exactly the same equipment, so
the conditions for knowledge and skills acquisition are the same in all the schools.
It must be highlighted that any other factors (social status of the students family,
the amount of time allotted to and needed for learning etc.) [1] which affect the
teaching process and students are not taken into consideration in this step of the
research. After the module was finished, based on their experiences in working
with real and virtual systems, they evaluated the efficiency of the method of
knowledge transfer.
This paper is organized as follows. In Section 2, we present the detailed
description of the module. The short descriptions of real learning systems, used in
the realization of this module, are presented in Section 3. In Section 4, a 3D
simulation tool for practical PLC training, Cosimir PLC, is described. Cosimir
Robotics, the leading 3D robot simulation system, is described in Section 5, and in
Section 6, the survey is described and the obtained results are presented and
discussed. In the last section, we give concluding remarks and future works.

Detailed Course Description

The curriculum of the module, Testing and diagnostics of mechatronics systems, is

rather complex. In order to adopt the defined knowledge and skills covered by the
teaching plan and program, previous knowledge of pneumatics, sensors, electric
motors, microcontrollers and PLC is needed. The module is divided into three
logical units. Sixty classes are assigned for the first part of the course.

61

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

In the introductory part, the students are divided into teams and acquainted with
real mechatronics system in the mechatronics cabinet. The first mechatronics
system is the Festo MPS Distribution Station. The students are familiarized with
the procedure for linking a mechatronics system to a computer, installing the
required software and transferring the program from a computer to PLC station for
distribution. Next, the station is put into operation and the algorithm of
functioning of the mechatronics system is monitored. After the demonstration,
each of the teams repeats the procedure of demonstration. Every member of a
team fulfills certain procedures on their own. There is only one distribution station
in the mechatronics cabinet, so the other teams are familiarized with electric and
pneumatic scheme, sensors and actuators, in the meantime. Five school classes are
assigned for this exercise (E1) and for each of the following exercises.
The second exercise (E2) is an introduction to the software for 3D modelling and
simulation, Cosimir PLC. This program allows for individual work of students,
getting to know all components of the system, simulation of functioning of
mechatronics system and monitoring the state of sensors and actuators. With the
use of virtual models, it is possible for every student to acquire knowledge and
skills on the computer on his own, with the desired dynamics.
In the third exercise (E3), the professor simulates various faults on the virtual
model of Distribution station, and the students test virtual models, detect faults
and remove the causes of faults. When a student completely masters the software
packages for simulation, he is ready to safely use real the mechatronics system.
The fourth exercise (E4) involves working on a real system for distribution, the
detection of electrical, mechanical and pneumatic components, installation and
reinstallation, and conducting electric and pneumatic wiring. The fifth exercise
(E5) involves the detection and removal of mechanical faults and faults on
pneumatic installation and components. The sixth exercise (E6) involves the
detection and removal of faults on electric and electronic components. Students
prepare reports in electronic form for each of the exercises. Training for the
mechatronics system MPS Sorting station is realised in the same way as training
for Distribution station (E7-E12).
The second logical unit is training on the MPS Robotic system. For this part, 60
classes are assigned (E13-E24). During the first exercise, students are acquainted
with a real industrial robot, the Mitsubishi RV-2AJ, and the control of robot is
demonstrated (manual, computer control and automatic mode).
That is followed by a short course in programming a robot in programming
language Melfa Basic IV, learning about a software for the 3D modelling and
simulation of Cosimir Robotics, writing and testing programs in virtual
environment and, at the end, the simulation and detection of fault in 3D
environment (E14-E17).

62

Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

In exercises E18-E22 students program and test the program in the programming
environment Robot Explorer and transfer the program in robot controller and
monitor functioning of industrial robot. In E23 and E24, students simulate faults
on the industrial robot, and the faults are detected and removed.
In the third logical unit (35 classes) students perform synchronisation of
functioning of Robot station, Distributing station and Sorting station (E25). They
simulate and detect faults on the formed technological process (E26, E27),
network mechatronics systems in LAN (E28), monitor system parameters and
control mechatronics systems through LAN and WAN network (E29) and create
SCADA system (E30, E31).

Description of Experimental Framework

As we mentioned before, the fast development of modern control systems for

industrial processes requires modern learning systems, which, in their construction
and characteristics include real industrial systems [15]-[17]. Modern learning
systems make it possible for students to apply acquired theoretical knowledge on
real systems, to get to know industrial pneumatic, electric and electronic
components, hardware structures and programming of PLC, monitoring and
adjusting of system parameters, and the principles of the functioning of complex
mechatronics systems. Combining several such systems, a unique complex system
can be created that fully simulates a real industrial process. Getting to know the
characteristics and kinds of sensors, mechanical modules, programming industrial
computers and controlling actuators on industrial systems presents the basis for
education in the field of mechatronics.
In the mechatronics cabinet in the Technical school Trstenik, Serbia, we use
learning systems which belong to the Festo modular production line MPS
(Modular Production System) [18]. Many technologies are integrated to make
these sophisticated production systems: mechanical, electrical, electronics and
software. The main feature of these systems is that they represent real industrial
systems that are realised with industrial components and are managed by
industrial PLCs. The laboratory framework is equipped with Robot station
Mitsubishi Melfa RV-2AJ, Distribution station and Sorting station (see Fig. 1)
learning systems. These systems are supported by software for programming the
PLC and robots, software for communication and software for 3D modelling
simulation.
The first learning system, the Mitsubishi Melfa RV-2AJ, is a robotic hand with five
degrees of freedom. Robot control is performed via the controller CR1-571. The
controller has a modern 64-bit RISC/DSP processor (CPU), which allows
simultaneous control of up to 6 axes. All sensors and actuators of the robot are
connected to the controller. The robot controller via serial link RS232c is

63

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

connected to a PC. The basic functions of the controller are: indirect interpolation,
direct interpolation, 3D interpolation, palletization, subroutines, multi-tasking,
conditional branching, speed control and optimal route connection. The joints of
the robot are driven by AC servomotors, while the actuator is a pneumatic grip
having photo sensors. Thanks to this learning system the students should be able
to master hardware structure of the system, the interaction, control and
programming of real industrial robots.
Learning systems for distribution and sorting, which are controlled by the PLC,
are used to program, test and diagnose real mechatronic systems. These systems
are controlled by Festo PLCs FC640 which have a network module and support
for TCP/IP and which are directly connected to a local switch device by Ethernet
cable. Each PLC has a unique IP address, thus enabling direct access through the
computer network. The Distribution station separates work pieces from the storing
place. The fill level of the storing place is checked by a one-way light barrier. A
double-acting cylinder pushes work pieces out individually. The charger module
grips the separated piece with vacuum gripper. Driven by a rotary drive, the arm
of charger moves the work piece to transfer point on conveyor of the Sorting
station. When diffuse sensor detects the work piece, conveyor is started and the
stopper is activated. Sensors in the front of the stopper detect the work piece
characteristics (black, red or metal). The work pieces are stored in the appropriate
slides via sorting gates that are moved by short-stroke cylinders via diverting
mechanism. A through-beam sensor monitors the filling level of the slides. The
main advantage of these systems is reflected in their modularity; i.e. the funcional
moduls, sensors and algorithms can be changed.

Figure 1
Experimental framework

It can be noticed that real learning systems are suitable for testing, diagnosing and
servicing mechatronics systems because they enable hardware and software
simulation of faults. However, the main shortcoming is that a maximum of three
students can be trained on the same education system at the same time. Such

64

Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

systems for training have a relatively high price for most schools and faculties in
the surroundings, so educational institutions are not able to own a larger number
of the same educational systems on which simultaneous training could be held.
The alternative to the classical approach is to use virtual simulation learning
systems, which simulate the functioning of real systems on a computer. Training
is held on computers where programs for modelling and simulation are installed.
In this way, a student can acquire the basic knowledge on their own, and, at the
same time, groups from 10 to 20 members can be trained simultaneously.

Cosimir PLC Software

Nowadays, the use of the programmable logic device (PLD) and the
programmable logic controller (PLC) is pervasive in educational and industrial
applications [19]. It is already proved that the use of industrial units PLD and PLC
can contribute to the student learning experience [20], [21]. Festo MPS
mechatronics systems use the PLC of manufacturers known worldwide, like Festo,
Siemens, Mitsubishi and Allen-Bradley, for controlling. In this paper, we present
educational systems controlled by Festo PLC FC640. For realistic threedimensional simulation of PLC system, the appropriate software Cosimir PLC is
used.
Cosimir PLC represents a 3D simulation tool for practical PLC training. This
virtual three-dimensional environment enables individual graphic work
surroundings for each student. These software tools create an inspiring and
stimulating work environment for the acquisition of new technologies. The basic
characteristic of this software is that it possesses a library with finished models
identical to the physical learning systems of the Festo MPS series. The procedure
of starting, resetting and stopping the station fully corresponds to real systems.
The software enables comfortable work, without the possibility of causing damage
to the real system. Cosimir PLC does not require special hardware resources;
therefore, all computers of the Pentium IV generation can be used. The newer
version of this software is called the Ciros Automation Suite, but, for its optimal
functioning, a computer of great processing power and with powerful graphics
card and memory support is needed, which requires additional cost that is not
small.
Virtual three-dimensional simulation represents real system with the only
difference that control is performed by pressing a mouse taster on the model
instead of the taster on the control panel. Simultaneously with the loading of
three-dimensional model of mechatronics system, the corresponding program of
the PLC that controls the functioning of chosen station is loaded. The work
environment of the Cosimir PLC with the model of the distribution station is
presented in Fig. 2.

65

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

Figure 2
Virtual three-dimensional learning system - MPS distribution station

There are also separate windows with statements of input and output of PLC on
the desktop of the monitor. Starting the simulation, the values of input and output
are changed according to the algorithm of functioning, and this change is shown in
windows Inputs and Outputs. Monitoring of the sensors and actuators state, at any
time, is performed by activating a special mode of this software, Step by Step.
Monitoring and analysis of a system is possible only if the system is divided into
modules, based on structure of control, mechanical configuration, electric motor
drive, electric and electronic components, generator of signals and energy flow. In
Table 1, the function modules that make up a structure of learning systems,
together with their basic characteristics, are presented.
Table 1
Function modules and characteristics of real learning systems

No.
1
2

Function modules
Structure of system and
control structure
Mechanic configuration

3
4
5

Drives
Controlling elements
Control system

6
7

Generators of signals
Power supply

Components, parts, programme, functions

Program flow chart, graphic diagram, functional
diagram and system description
Mounting and adjusting the mechanical parts,
function mechanical modules
Electric, pneumatic, hydraulic, mechanical
Electric, pneumatic, hydraulic, mechanical
Electrical relays, PLC, CNC, pneumatics, robot
controllers
Binary sensors, analogue sensors, digital sensors
Electric, pneumatic, hydraulic

One of the most significant options of this software package is the possibility for
simulation of a system fault. The process of fault simulation is performed in
protected mode (Teacher mode), and to get to this function a password is needed.

66

Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

A teacher chooses one or more faults from the range of possible system faults,
such as the disconnection of the power supply, a sensor failure, a component
missing, a fault in pneumatic installation, etc. Along with the choice of a fault, it is
possible to define the duration of the fault as well as the time of its activation in
the system. After the fault is set, we leave Teacher mode environment in order
activate the fault. In order to test and diagnose the fault, there is a specific part of
the program for fault detection Fault Localisation. Using this command, we
localise the fault, remove it and exit this part of program. The removed faults are
marked with a green line, and the faults that are still active with a red line. All the
system faults, with their type and time of appearance, are archived in a separate
fault file (Fault log). These data can be reviewed and analysed after the
simulation. After the fault has been removed, it is possible to start the system
simulation.
The procedure of fault simulation is similar on real learning systems. The
addresses of input and output variables are the same, and the marking, appearance
and position of system components are identical. Before real or virtual models are
started, it is necessary to reset the system, i.e., to set initial conditions. To start a
certain actuator, its respective sensors have to be active, as do all the states of all
sensors relevant for that actuator change. This part of program enables monitoring
process activity and states of all sensors and actuators. During the simulation of
system, the statuses of input and output in PLC change, which is visually
presented in the Manual operation window. There is a possibility to activate each
of the actuators separately and in that way to monitor the status of signals which it
activates or deactivates. In order to start this option, the simulation of system has
to be closed. Thus, the system can be monitored every step of the way, which
facilitates the learning process. This way of functioning corresponds to the manual
mode of a real system, when a PLC program is executed step by step.
In this way, it is possible for students to become familiar with the basic
components of mechatronics systems, monitor the algorithms of system
functioning, program and test the PLC, simulate faults of a system, and detect and
remove a fault. Using simulation software, students adopt much faster the
principles of the functioning of a mechatronics system, as well as monitoring of
system parameters and the statuses of input and output values on the mechatronics
system.

Cosimir Robotics Software

A robot controller connected to a computer with serial link RS232 controls the
robotic station. The robotic station is a part of the Festo MPS system, on which the
industrial robot, Mitsubishi RV2AJ, with supporting work environment is set.

67

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

Due to specifics in controlling and programming the robot, the software

development environment for programming and simulation, Cosimir Robotics, is
used for this system. This software provides a virtual work environment for
education in the field of robotics and automation. Attending the classes, the
students have used the software for the simulation, testing and diagnostics of
mechatronics systems in a virtual environment. Using this program, programs for
the simulation of functioning of mechatronics systems can be created, and also,
existing examples which are delivered with MPS systems can be used. We used
the Cosimir Robotics toolbox for the programming and simulation of robot
functioning. Mostly every school and faculty try to provide as many education
systems (a minimum of three) as possible in order to create the conditions for
learning a wide range of knowledge and skills. A virtual three-dimensional
environment for real system simulation contains a library of models of real
components, with the same labels, and it behaves as a real industrial system. The
virtual system is intended for creating 3D models of robotic and flexible
production systems, their programming and real operation simulation (see Fig. 3).

Figure 3
Virtual robot environment 3D model Mitsubishi RV2AJ

This facilitates planning, programming and testing of robots in every defined

position, primarily in the 3D environment, and then in a real system. With this
system, all sequences of moving, gripping and transferring are simulated,
trajectory and time cycle is optimised, and elimination of collision is performed.
The virtual environment is created by choosing an already-defined components
library, such as machines, tools, warehouses, robots and other components.
The Cosimir Robotics software is based on the principle of an open approach to
learning, which is characterised by constructive approach to learning; all models
and tools are available and can be combined and used according to the

68

Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

individuals needs and the learning goals. This software is supported by

multimedia system for providing help, Robotics Assistant, which contains textual
description of robotic system, models, examples, a graphical presentation, as well
as video material and animations. A very significant characteristic of this system
is that three-dimensional virtual robot with its construction, components and
functioning completely corresponds to a real industrial robot. The virtual
environment enables defining the coordinate points through which the robot will
pass, writing programs, compiling and simulation. Programs are tested in virtual
the 3D environment, which enables students to monitor the program and motion of
robot simultaneously. Thus, the effects of each command are visible and faults are
easily detected. This system allows for different levels of knowledge and skills
acquisition and promotes new methods of research, discovering and projecting.
Using virtual models, students attain the basic knowledge and skills for working
with real models. They come across problems when a designed system does not
function. Faults can be detected independently, and it is possible to improve the
efficiency of system functioning and to create more complex systems on the
grounds of initial basic model. Cosimir Robotics enables monitoring tools
coordinates, choosing the coordinate system, programming, testing the program
functioning, and simulating the robot functioning in a 3D environment.
Programming and controlling industrial robot RV2AJ is much easier, faster and
safer, when students acquire the basic knowledge and skills using the simulation
model.
It is very important to highlight that software packages for 3D simulation cannot
replace real education systems, but they may facilitate and speed up the process of
acquiring knowledge and skills, which will be confirmed in the conducted survey,
presented in following section.

Survey Description and Analysis of Results

In order to verify the proposed teaching method, presented in this paper, an

anonymous survey was conducted in four schools that have exactly the same
conditions for realising the teaching process. The target group were the students of
the first and second generation of the fourth year of technician of mechatronics. In
the school year 2010/2011, 84 students (group A) were involved in the research,
while in the school year 2011/2012, 102 students (group B) were involved. Each
of the schools is equipped with the mentioned education systems and supporting
software for virtual simulation in their mechatronics cabinets. This model of
learning stimulates students to master very complex mechatronics systems in a
modern, prompt and efficient way [9], [10], [22], [23].
In the course of implementing the new methods of learning and the new software
and hardware tools, experts in the fields of pedagogy and psychology were

69

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

consulted. The monitoring of the application of new methods and means of

teaching is sporadic, so it often happens that new models are age-inappropriate,
too complex, or inapplicable at all levels of learning. Since the student is at the
centre of educational process, the way they accept new learning systems and the
results they achieve in their application are very important.
The goal of this research is to get relevant information from the students about
efficiency of virtual and real learning systems in mechatronics teaching. Based on
these results, we can define certain contents which are adopted using virtual
software for simulation, practical skills which must be adopted using real learning
systems and record software models that do not give the desired results.
The students gave answers to the questions from Table 2 in the following way:

Score 1 Strongly disagree,

Score 2 Disagree,
Score 3 Neutral,
Score 4 Agree,
Score 5 Strongly agree.
Table 2
Survey statements used to assess learning performance

1
2
3

5
6

7
8
9
10

Statement
The use of software for modelling and simulation is needed for
successful knowledge and skills acquisition.
Software for simulation, Cosimir PLC and Cosimir Robotics, are
interesting and challenging for students.
Software for simulation, Cosimir PLC and Cosimir Robotics, are
suitable to show the principles of the functioning of real mechatronics
systems.
Software for simulation, Cosimir PLC and Cosimir Robotics, are
suitable for the simulation and detection of faults on mechatronics
systems.
Software for simulation, Cosimir PLC and Cosimir Robotics, cannot
fully replace real learning systems.
Software for simulation, Cosimir PLC and Cosimir Robotics, in
combination with real learning systems are the best approach for the
process of learning.
Software for simulation, Cosimir PLC and Cosimir Robotics, are easy
to learn.
Training on real systems is easier if software for 3D modelling is used
previously.
Software for simulation lessens the possibility of damaging real
mechatronics systems.
Software for simulation reduces the students fear of complex real
mechatronics systems.

70

Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

Graphical representation of average score to any question from Table 2 is shown

in Figure 4. These results give us the opportunity to analyse the application of
education system in the school years 2010/2011 and 2011/2012, respectively.

Figure 4
Graphic representation average rating of proposition in school years 2010/2011 and 2011/2012

To analyse the research, it is necessary to see also the results students have
achieved at the end of their schooling. At their final examination, students took a
test of vocational-theoretical knowledge and final practical work. The average
score on the test of vocational-theoretical knowledge was 3.28, and the average
score on the final practical work was 4.60. The average score on both practical
and theoretical parts was 3.62. If we compare this score with average scores at all
statements in the survey, we can see that deviation is very small. Experience in
teaching practice has shown that students with better academic accomplishments
have a wider range of interests and great knowledge in computers and
programming and easily adopt and implement new methods and new means of
teaching. Students with less knowledge mainly focus on work with real industrial
systems. Percentagewise, the scores according to question is shown in Figs. 5 and
6.

71

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

Figure 5
Percentagewise scores representation in 2010/2011

Figure 6
Percentagewise scores representation in 2011/2012

Comparing the results, for group A (2011) and group B (2012), from Figs. 5 and
6, we have the following analysis:

The students point out that the use of simulation models in the teaching
process is very necessary (65% for both groups), while 8% of students of
group B do not accept the use of these models, significantly less in
comparison to 22% of students of group A. This result suggests that the
students of group B posess much more knowledge in the area of
information and computer technology, and they willingly accept
participation in this teaching method.

In group B, 82% of students believe that the use of virtual models

increases learning motivation. This high percentage, in comparison to the
first group, can be justified by the fact that students are satisfied with the
teaching method, and one of the reasons could be the possibility that the

72

Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

students performed the assignments on their own. It should be noted that

teachers have feedback results from the previous generation, and they
now improved their teaching process.

In addition, both groups of students believe that the use of virtual models
in testing and diagnostics is necessary (44%). However, this rather small
percentage suggests that students have not yet fully mastered the teaching
material and they are not prepared to use the acquired knowledge on their
own.

Students of group B claim that virtual models are easier to learn

(75%:47%) and therefore they have much more involvement in the
learning process (69%:40%), which indicates that the second generation
of students more easily accept the new software tools and that they are
ready to use the new technologies for improving their knowledge.

A high percentage (61%) of students of group A believe that virtual

models cannot replace the real system in the learning process, while this
percentage is significantly reduced in group B (49%), which indicates
that the second generation of students recognizes the importance of
combining virtual simulation models with real learning systems, which
can be very helpful for solving practical problems in the future.

The confirmation of the good teaching approach comes from the high
percentage of students of both groups who believe that it is necessary to
combine virtual and real learning systems. This percentage is 10% higher
in group B, which shows that for the successful acquisition of knowledge
and skills in the areas of technology, it is necessary to combine virtual
and real didactic components and systems.

It must be highlighted that many other factors could affect the survey results, but
they were not taken into consideration for this research. These factors are, for
example, the various psychological orientations, general learning abilities (the
ability of self-regulated learning), and the degree of comprehension (general
intelligence, verbal skills), as well as several environmental factors, etc. [1].
Having in mind the results of the research, we can say that a large majority of
students use virtual models in combination with real learning systems. The
application of simulation models has a special significance in the hybrid model of
learning, that is to say, in combination with training on real learning systems and
industrial systems. The significance of application of software for simulation and
modelling of mechatronics systems is in the fact that it:
allows knowledge and skills acquisition in a modern and fun way,
allows independent learning in preferred dynamics,
allows a large number of repetitions of the same procedures,
speeds up the process of learning,
increasing motivation for learning,
reduces the cost of education,

73

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

reduces the fear of using real components and systems,

prepares the students for working with real components and systems,
allows working with a large number of different mechatronics systems.
Software for virtual learning, despite its great characteristics, does not represent
replacement for real learning systems, but is a powerful software platform which
facilitates and accelerates the process of knowledge and skill acquisition. The
fusion of theoretical knowledge, practical skills and virtual 3D models represents
a model for education in the field of mechatronics that has given great results in
the education of technicians of mechatronics.
Conclusions and Future Works
In this paper, we have presented a hybrid learning model using real and virtual
learning environment in the field of mechatronics. This learning method is applied
in the teaching process of secondary vocational school of educational profile for
the technicians of mechatronics pilot program in Trstenik, Serbia.
Simulations of processes can be used to familiarize students with all the
components and units of modern mechatronics systems, in an interesting and
modern way. Moreover, they have a significant role in modelling and testing
systems, in cases where work on real systems is dangerous or very expensive. In
this way, students can create and test desired models on their own and analyse the
results of their work. The results of students programming, testing and
diagnostics are immediately visible, which gives great stimulation for further
learning and exploring. There is no danger of student injury or damage to the
system in a virtual environment, so various models of real systems can be
simulated, tested and diagnosed.
However, to achieve the desired level of professional competencies, based on our
experiences and the survey conducted in this paper, the best approach is to
combine virtual models with real industrial systems. In that way, students are able
to apply the acquired theoretical knowledge on real systems, which will decrease
the fear of working with these kinds of real industrial systems in the future. Also,
the possibility of injury during the work with real systems is reduced to a
minimum, and the motivation for learning is raised to a higher level.
The main shortcoming of this learning method is that virtual and real learning
systems are available for students at fixed intervals. In our future work, we will
solve this problem by forming a system for remote access to the learning systems
in mechatronics cabinet using video cameras, high-speed internet and web
browsers. Apart from education, the system for remote access and control via the
internet is also applicable to real industrial mechatronics systems.
Acknowledgement
This paper was realized as a part of the projects TR 35005 and III 43007, financed
by the Ministry of Education and Science of the Republic of Serbia for the period
2011-2014.

74

Acta Polytechnica Hungarica

Vol. 10, No. 6, 2013

References
[1]

P. Tth: Learning Strategies and Styles in Vocational Education, Acta

Polytechnica Hungarica, Vol. 9, No. 3, pp. 195-216, 2012

[2]

R. H. Bishop: The Mechatronics Handbook, The University of Texas at

Austin, Austin, Texas, 2002

[3]

S. Aleksandrov, R. Aleksandrov, P. Simi: Usage of Modern Didactic

System in Education in Area of Mechatronic Enginering, Proceedings of
the 6th International Symposium of Technology, Informatics and Education
for Learning and Knowledge Society, aak, Serbia, 3-5 June, pp. 607-612,
2011

[4]

S. Aleksandrov, S. ajetinac, D. elija: Didactic System Festo-MPS

Sorting Station and its Application in Education in the Field of
Mechatronics, Proceedings of 10th International Conference Research and
Development in Mechanical Industy - RaDMI 2010, Donji Milanovac,
Serbia, 16-19 September, pp. 549-553, 2010

[5]

K. Yeung, S. Chow: The Modular Production System (MPS): an Alternate

Approach for Control Technology in Design and Technology, In: IDATER
98 Loughborough University, Hong Kong SAR

[6]

R.-E. Precup, S. Preitl, M. B. Radac, E. M. Petriu, C. A. Dragos, J. K. Tar:

Experiment-based Teaching in Advanced Control Engineering, IEEE
Transactions on Education, Vol. 54, No. 3, pp. 345-355, 2011

[7]

W. H. Liao, S. C. Wang, Y. H. Liu: Generalized Simulation Model for a

Switched-Mode Power Supply Design Course Using MATLAB/
SIMULINK, IEEE Transactions on Education, Vol. 55, No. 1, pp. 36-47,
2012

[8]

D. G. Lamar, P. F. Miaja, M. Arias, A. Rodriguez, M. Rodrguez, A.

Vzquez, M. M. Hernando, J. Sebastin: Experiences in the Application of
Project-based Learning in a Switching-Mode Power Supplies Course, IEEE
Transactions on Education, Vol. 55, No. 1, pp. 69-77, 2012

[9]

F. W. Bruns, H. H. Erbe, M. Faust: Engineering Future Laboratories, In:

Marvel A Leonardo da Vinci Pilot Project Mechatronics Training in
Real and Virtual Environments, Bremen, 2005

[10]

D. Muller: Designing Learning Spaces for Mechatronics, In: Marvel A

Leonardo da Vinci Pilot Project Mechatronics Training in Real and
Virtual Environments, Bremen, 2005

[11]

C. E. Pereira, S. Paladini, F. M. Schaf: Control and Automation

Engineering Education: Combinig Physical, Remote and Virtual Labs,
Proceedings of the 9th International Multi-Conference on Systems, Signals
and Devices SSD 2012, Chemnits, Germany, 20-23 March, pp. 1-10,
2012

75

S. Aleksandrov et al.

Analysis of the Efficiency of Applied Virtual Simulation Models and Real Learning
Systems in the Process of Education in Mechatronics

[12]

R. C. Hsu, W. C. Liu, Project-based Learning as a Pedagogical Tool for

Embedded System Education, In Proceedings of 3rd International
Conference on Information Technology: Research and Education, ITRE
2005, Hsinchu, Taiwan, 27-30 June, pp. 362-366, 2005

[13]

I. G. Pop, V. Mtie: Transdisciplinary Approach of the Mechatronics in

the Knowledge-based Society, Advances in Mechatronics, H. MartinezAlfaro (Ed.), InTech, 2011

[14]

L. Izs, P. Tth: Applying Web-Mining Methods for Analysis of Student

Behaviour in VLE courses, Acta Polytechnica Hungarica, Vol. 5, No. 4, pp.
79-92, 2008

[15]

E. Lindsay, M. Good: The Impact of Audiovisual Feedback on the Learning

Outcomes of a Remote and Virtual Laboratory Class, IEEE Transactions on
Education, Vol. 52, No. 4, 2009

[16]

C. Buiu: Design and Evaluation of an Integrated Online Motion Control

Training Package, IEEE Transactions on Education, Vol. 52, No. 3, pp.
385-393, 2009

[17]

E. Montero, M. J. Gonzalez: Student Engagement in a Structured Problembased Approach to Learning: A First-Year Electronic Engineering Study
Module on Heat Transfer, IEEE Transactions on Education, Vol. 52, No. 2,
pp. 214-221, 2009

[18]

Festo, The Modular Production System - Users Manual, 2013.

Available: http://www.festo-didactic.com

[19]

I. Grout, J. Walsh: Microelectronic Circuit Test Engineering Laboratories

with Programmable Logic, International Journal of Electrical Engineering
Education, Vol. 41, No. 4, pp. 313-327, 2004

[20]

J. J. Blakley, D. A. Irvine: Teaching Programmable Logic Controllers

Using Multimedia-based Courseware, International Journal of Electrical
Engineering Education, Vol. 37, No. 4, pp. 305-345, 2000

[21]

L. Cheded, M. Al-Mulla: Control of a Four-Level Elevator System Using a

Programmable Logic Controller, International Journal of Electrical
Engineering Education, Vol. 39, No. 2, pp. 110-117, 2002

[22]

M. Rai, J. Jovanovi: Comparative Analysis of Mechanical and

Mechatronic Design, Proceedings of the 9th International Conference
Research and Development in Mechanical Industy - RaDMI 2009,
Vrnjaka Banja, Serbia, 16-19 September, pp. 332-339, 2009

[23]

S. H. Pulko, S. Parikh: Teaching Soft Skills to Engineers, International

Journal of Electrical Engineering Education, Vol. 40, No. 4, pp 243-254,
2003

76